tnkrjrf

1 files changed, 10 insertions, 2 deletions

diff --git a/robot/movement.c b/robot/movement.c
index 61a944b..37d66d5 100644
--- a/robot/movement.c
+++ b/robot/movement.c
@@ -1,9 +1,11 @@
 #include "movement.h"
 #include "orangutan_shim.h"
 
-unsigned int g_w2_sensors[5] = {0};
-unsigned int g_w2_position	 = 0;
+unsigned int g_w2_sensors[5] = {0};		//IR sensors on the bottom of the robot
+unsigned int g_w2_position	 = 0;		//position on the black line
 
+
+//full rotation maze/charge
 void w2_maze_rotation_full() {
 	set_motors(0, 0);
 	delay_ms(500);
@@ -14,6 +16,7 @@ void w2_maze_rotation_full() {
 	delay_ms(500);
 }
 
+//left turn maze/charge
 void w2_maze_rotation_half_left() {
 	set_motors(0, 0);
 	set_motors(50, 50);
@@ -24,6 +27,8 @@ void w2_maze_rotation_half_left() {
 	g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON);
 	delay_ms(500);
 }
+
+//right turn maze/charge
 void w2_maze_rotation_half_right() {
 	set_motors(0, 0);
 	set_motors(50, 50);
@@ -37,6 +42,7 @@ void w2_maze_rotation_half_right() {
 	delay_ms(500);
 }
 
+//180 turn in grid
 void w2_grid_rotation_full() {
 	set_motors(60, -60);
 	delay_ms(540);
@@ -44,6 +50,7 @@ void w2_grid_rotation_full() {
 	g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON);
 }
 
+//left turn in grid
 void w2_grid_rotation_half_left() {
 	set_motors(-30, 30);
 	delay_ms(600);
@@ -51,6 +58,7 @@ void w2_grid_rotation_half_left() {
 	g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON);
 }
 
+//right turn in grid
 void w2_grid_rotation_half_right() {
 	set_motors(30, -30);
 	delay_ms(600);